TW202129443A - Control program generation device, control program generation method, and program - Google Patents

Abstract

The basic operations of a plurality of actuators mounted in an automatic manufacturing machine (1), and program elements for realizing the basic operations, are associated and stored. In addition, the operations of the automatic manufacturing machine are described in an operation chart (200) in which the completion of the plurality of basic operations and the start of other basic operations are associated through logic operations. The operation chart in which the operations of the automatic manufacturing machine are described is read, basic operations in the operation chart are converted to program elements, and the program elements are joined according to the operation chart. This makes it possible to automatically generate a control program that controls the operations of the automatic manufacturing machine.

Description

Control program generating device, control program generating method, program

The present invention relates to a technology for generating a control program for an automatic manufacturing machine equipped with a plurality of actuators.

Nowadays, across all types of industries, there is a strong demand for labor-saving in factories and other manufacturing sites, and this tendency is expected to increase in the future. In order to promote labor-saving in the manufacturing site, it is necessary to make use of automatic manufacturing machines that automatically perform actions such as holding and transporting the object to be processed or manufactured, performing various processing on the object, or heating the object.

Therefore, according to the object to be processed or manufactured, or the processing content (for example, cutting processing, bending processing), in the case of food, according to the degree of heating, etc., various types of automatic manufacturing machines have been developed (for example, Patent Literature 1, Patent Literature 2).

In addition, the size, shape, and material of the object to be processed or manufactured differs in each manufacturing site. Furthermore, the processing content and heating degree also vary depending on the manufacturing site. Therefore, it is difficult to embezzle the automatic manufacturing machinery used in other manufacturing sites when introducing the automatic manufacturing machinery into the manufacturing site, and it is generally necessary to newly develop a dedicated automatic manufacturing machine for each manufacturing site.

【Prior Technical Literature】

【Patent Literature】

[Patent Document 1] Japanese Patent Application Publication No. 2011-245602

[Patent Document 2] Japanese Patent Application Publication No. 2018-192570

However, to develop a new automatic manufacturing machine, it is also necessary to create a new control program for controlling the automatic manufacturing machine. This situation has the problem of becoming a huge obstacle when the new automatic manufacturing machine is introduced at the manufacturing site. The reason will be described later.

When developing a new automatic manufacturing machine, first of all, after understanding the various functions required by the automatic manufacturing machine, the mechanical design technician makes a drawing of the automatic manufacturing machine that can realize the required functions. Next, a technician (the so-called programmer) who has the technology for making programs, after understanding the actions of various actuators and mechanical parts described in the diagram, makes the various actuators coordinate and operate at the same time to achieve all The control program of the requested function.

In this way, the operation of the program designer to create the control program starts after the design of the automatic manufacturing machine is completed, which results in a time delay in the manual creation of the control program. In addition, programmers also need time to understand the actions of various actuators and mechanical parts. As a result, it takes a long time from the start of the development of the automatic manufacturing machine to the shipment to the manufacturing site. This situation is a huge obstacle to the introduction of new automatic manufacturing machines at the manufacturing site.

The present invention is to solve the above-mentioned problems in the prior art, and aims to provide a technology that can greatly shorten the time required for the development of a new automatic manufacturing machine by automatically generating a control program for an automatic manufacturing machine.

In order to solve the above-mentioned problems, the control program generating device of the present invention adopts the following structure, namely:

A control program generating device (100), which generates a control program of an automatic manufacturing machine (1) equipped with a plurality of actuators (10-20), and is characterized by:

The basic motion storage unit (102) corresponds and stores the basic motion representing the motion of each degree of freedom of the actuator with the program element used to realize the basic motion;

The action diagram reading unit (103) decomposes the action of the automatic manufacturing machine into a plurality of the basic actions, and associates the end of the basic action with the beginning of other basic actions by logical operations, thereby reading the description There is an action diagram (200) of the action of the automatic manufacturing machine; and

The control program generating unit (105) generates the control program for operating the automatic manufacturing machine by combining the program components stored in the basic operation storage unit in accordance with the operation diagram.

In addition, the control program generation method of the present invention corresponding to the above-mentioned control program generation device adopts the following configuration. that is:

A method for generating a control program, which generates a control program for an automatic manufacturing machine (1) equipped with a plurality of actuators (10-20) through a computer, and is characterized by:

The action diagram reading step (103) is to read and use the basic action representing the action of each degree of freedom of the actuator, and the logical operation that associates the beginning of the basic action with the end of the basic action, thereby describing the The action diagram of automatic manufacturing machinery action (200);

An action diagram analysis step (104), by analyzing the action diagram, extracting a plurality of the basic actions included in the action diagram, and logical operations that associate a plurality of the basic actions; and

In the control program generation step (105), by referring to the stored data (102) corresponding to the basic action and the program element used to realize the basic action, the basic action recorded in the action diagram is transformed into the Simultaneously with the program components, the program components are combined in accordance with the action diagram to generate the control program for the automatic manufacturing machine to operate.

In the control program generation device and control program generation method of the present invention, the basic actions of a plurality of actuators installed in an automatic manufacturing machine correspond to the program elements used to realize the basic actions and are stored in advance. In addition, by decomposing the motion of the automatic manufacturing machine into a plurality of basic motions, and correlating the end of the basic motion with the beginning of other basic motions by logical operations, an action diagram describing the motion of the automatic manufacturing machine is made in advance. Next, when generating the control program of the automatic manufacturing machine, by reading the motion diagram describing the motion of the automatic manufacturing machine, and transforming the basic motion recorded in the motion diagram into program components, these program components follow the motion Figures are combined to generate a control program.

Since the basic motion of the actuator is a simple motion, it is possible to create a program component for making the actuator perform the basic motion in advance. In addition, since the mechanical design technicians design the automatic manufacturing machinery by combining the basic actions of the actuators to realize the motions of the automatic manufacturing machinery, the mechanical design technicians designing the automatic manufacturing machinery can combine multiple basic motions The end and the start are associated with logical operations, so that action diagrams describing the actions of automatic manufacturing machines can be easily produced. Accordingly, by reading the action diagram, transforming the basic actions in the action diagram into program components, and combining the program components according to the action diagram, a control program for controlling the actions of the automatic manufacturing machine can be automatically generated.

In addition, in the control program generating device of the present invention described above, the parameters of the basic actions and program elements can also be set.

In this way, since the basic actions can be described in detail, such as movement speed and rotation speed, movement distance, and rotation angle, the movement of the automatic manufacturing machine can be described in more detail in the movement diagram.

In addition, in the above-mentioned control program generating device of the present invention, at least one of the timing action of the timer or the counting action of the counter can also be described as the action description of the basic action in the action diagram describing the action of the automatic manufacturing machine.

In this way, the action of the automatic manufacturing machine can be described in the action diagram, such as delaying the start of the action until a certain time has passed, or delaying the start of the action until the number of times the designated button is pressed reaches the designated number of times.

In addition, in the control program generating device of the present invention described above, at least one of the sound output action of the loudspeaker or the light-emitting action of the lamp can also be used as the action to compare the basic action in the action diagram describing the action of the automatic manufacturing machine. describe.

In this way, the operation of the automatic manufacturing machine, for example, the actuator operates after outputting sound effects such as sound from the loudspeaker, or the actuator operates after the light is turned on or off, can be described in the operation diagram.

In addition, in the above-mentioned control program generating device of the present invention, the heating action of the heater can also be described as the action description of the basic action in the action diagram describing the action of the automatic manufacturing machine.

In this way, for example, the action of an automatic manufacturing machine that heats metal materials and the action of an automatic manufacturing machine that heats and prepares food can be described in the action diagram.

In addition, in the above-mentioned control program generating device of the present invention, the basic actions of the actuators controlled by the sequence control can also be stored in correspondence with the program elements that realize the basic actions by the sequence control, and will be stored by the servo The basic actions of the actuators controlled by the control correspond to the program components that realize the basic actions by the servo control and are stored.

In this way, even in an automatic manufacturing machine in which sequence-controlled actuators and servo-controlled actuators are mixed, it is possible to automatically generate a control program by describing the actions of the automatic manufacturing machine in the action diagram.

In addition, the aforementioned control program generation method of the present invention can also be understood as a program for implementing the control program generation method using a computer. That is, the program of the present invention:

It uses a computer to generate an automatic manufacturing machine with multiple actuators (10-20) (1) The method of controlling the program is characterized by the use of a computer:

Action diagram reading function (103), which reads and uses the basic motion representing the motion of each degree of freedom of the actuator, and logical operations that associate the beginning of the basic motion with the end of the basic motion, thereby describing the The action diagram of automatic manufacturing machinery action (200);

The action diagram analysis function (104), by analyzing the action diagram, captures a plurality of the basic actions contained in the action diagram, and logical operations that associate a plurality of the basic actions; and

The control program generation function (105), by referring to the stored data (102) corresponding to the basic action and the program element used to realize the basic action, the basic action recorded in the action diagram is transformed into the At the same time as the program components, the program components are combined according to the action diagram to generate the control program for the automatic manufacturing machine to operate

If the computer reads and executes this kind of program, it can automatically generate a control program that controls the actions of the automatic manufacturing machine.

1: Automatic manufacturing machinery

2: track

3: Handling unit

3a: Hold the shaft

3b: Chuck

4: Processing unit

10~20: Actuator

10d~20d: drive circuit

50: Control the computer

100: Control program generator

100a: display screen

100b: keyboard

100c: mouse pointer

101: YOGO map production department

102: Basic movement storage

103: YOGO image reading department

104: YOGO Graph Analysis Department

105: Control program generation department

106: Control program output section

110: Compiler

200: YOGO diagram

201: Divider line

202: trigger line

203: Action Line

204: starting point

205: end

206: Basic Action Name

209: ON confirmation action

210: Switch specific information

211: OFF confirmation action

[FIG. 1] shows an explanatory diagram of the appearance and shape of the automatic manufacturing machine 1 controlled by the control program generated by the control program generating device 100 of the embodiment.

[FIG. 2] A block diagram conceptually showing a situation where the control computer 50 installed in the automatic manufacturing machine 1 controls the actions of various actuators 10-20 installed in the automatic manufacturing machine 1.

[Fig. 3] shows an explanatory diagram of the outline steps used to develop a new automatic manufacturing machine 1.

[FIG. 4] An explanatory diagram illustrating the outline of the action diagram (YOGO diagram) read by the control program generating device 100 of this embodiment.

[FIG. 5] An explanatory diagram showing the method of describing the action of the automatic manufacturing machine 1 using the action diagram (YOGO diagram).

[Fig. 6] An explanatory diagram illustrating the method of describing the action of the automatic manufacturing machine 1 using other modes of action diagrams (YOGO diagrams).

[FIG. 7] Illustrates an explanatory diagram of actions that can be operated in the same way as the basic actions on the action diagram (YOGO diagram).

[Figure 8] An explanatory diagram that illustrates the state of the switch as the start condition of the action and described in the YOGO diagram.

[Figure 9] An explanatory diagram illustrating the state of the switch as an end condition of the action and described in the YOGO diagram.

[FIG. 10] An explanatory diagram showing the functions of the control program generating device 100 of this embodiment.

[FIG. 11] An explanatory diagram illustrating the state in which the control program generating device 100 of this embodiment associates and stores basic actions with program elements.

A. Device composition:

FIG. 1 is an explanatory diagram showing a rough appearance shape of the automatic manufacturing machine 1 of this embodiment. The automatic manufacturing machine 1 of this embodiment processes a long-sized pipe material into a working machine (a so-called pipe bender) of a desired shape by performing automatic bending processing. Of course, the automatic manufacturing machine 1 of this embodiment can be equipped with multiple actuators to automatically perform multiple actions such as holding, conveying, processing, and heating the object, and it can also be a working machine other than a pipe bender. For example, it can also be a manufacturing machine used to automatically manufacture food.

As shown in Figure 1, the automatic manufacturing machine 1 of this embodiment roughly has a horizontally long rectangular parallelepiped shape. Two rails 2 are erected on the top side of the rectangular parallelepiped in the longitudinal direction, and one end side of the rail 2 (in Figure 1 is On the left), it is equipped with a pipe that is not shown in the figure to hold and transport the processing object 运unit 3. In addition, on the side opposite to the side on which the transport unit 3 is mounted, a processing unit 4 that performs processing such as bending on a pipe material not shown in the figure is mounted. In the conveying unit 3, a cylindrical grip shaft 3a is protrudingly provided, and at the front end of the grip shaft 3a, a chuck 3b for holding a pipe (not shown) is installed. Therefore, the conveying unit 3 can be moved on the rail 2 while holding the pipe by the chuck 3b, so that the pipe can be supplied to the processing unit 4, and the processing unit 4 can perform bending processing and the like on the pipe.

The automatic manufacturing machine 1 of the present embodiment can control the conveying amount of the pipe by the movement amount of the conveying unit 3, and therefore can freely control the position where the pipe is subjected to bending processing and the like. In addition, it is possible to bend the pipe in a desired direction by rotating the grip shaft 3a with the chuck 3b mounted thereon (that is, a so-called twisting action). In order to achieve this, inside the transport unit 3, an actuator 10 for opening and closing the chuck 3b, an actuator 11 for rotating the grip shaft 3a, and an actuator 11 for rotating the grip shaft 3a are mounted. An actuator 12 that moves forward and backward in the axial direction, an actuator 13 that moves the transport unit 3 forward and backward on the rail 2, and the like. In the automatic manufacturing machine 1 of this embodiment, these actuators 10-13 all use AC power-operated servo motors, but according to the required performance of the actuators, actuators of other driving methods (such as oil Cylinders, solenoids, stepping motors, etc.). Furthermore, the conveying unit 3 is also equipped with encoders for detecting the rotation position of the grip shaft 3a and the moving position of the conveying unit 3, and sensors such as limit switches. However, in order to avoid complicated drawings, The illustration is omitted in FIG. 1.

Inside the processing unit 4, an actuator 17 for bending the pipe is mounted; an actuator 18 for moving the position where a force is applied to the pipe for bending the pipe; for moving the entire processing unit 4 in the up and down direction The actuator 19; and the actuator 20 used to form a flat end surface called a flange and a ring-shaped convex portion called a bulge on the pipe. Furthermore, the processing unit 4 is also equipped with switches and sensors such as encoders and contact switches. However, in order to avoid complicated drawings, the illustrations of these are omitted in FIG. 1.

In addition, inside the processing unit 4 is equipped with a machine for controlling automatic manufacturing 1 The control computer 50 for the overall operation, and a plurality of driving circuits (not shown) for driving the various actuators 10-13, 17-20. Here, the drive circuit means an electronic component with the following functions. Actuators 10-13 and 17-20 consume a lot of electricity in order to generate powerful forces. However, since the power output from the control computer 50 is only a small amount of power, the control computer 50 cannot directly drive the actuators 10-13 and 17-20. Therefore, the control computer 50 drives the actuators 10-13, 17-20 through a drive circuit that can supply a large amount of power. Regarding the case where the control computer 50 drives the actuators 10-13 and 17-20 through the driving circuit, other figures will be used in the following description.

Furthermore, as shown in FIG. 1, various mechanical parts are also mounted in the space below the two rails 2, but this space is a space for wiring. The wiring runs from a plurality of drive circuits (not shown) mounted in the processing unit 4 Power cables (not shown) for supplying power to various actuators 10 to 13 in the handling unit 3, and signals for transmitting signals from various switches and sensors mounted on the handling unit 3 to the processing unit 4 Cable (not shown), etc. As the handling unit 3 advances and retreats on the track 2 and these power cables and signal cables move in the space, there is a suspicion that they may become entangled or stuck on something. Therefore, in order to avoid such a situation from happening, the space under the track 2 is also equipped with actuators 14-16, which are used to remove the power cable and signal cable by pulling the cable when there is unused margin for the power cable and signal cable. Unused margin, and when the power cable and signal cable are strongly tensioned, the cable is sent out to maintain the proper margin of the cable. In the automatic manufacturing machine 1 of this embodiment, pneumatic cylinders are used as actuators 14-16, and the actions of these pneumatic cylinders are also controlled by the control computer 50 through a drive circuit not shown.

As described above, the automatic manufacturing machine 1 is equipped with a large number of actuators 10-20. Next, in order to automatically process the object to be processed (in this case, the pipe) into the desired shape, the actuators 10 to 20 must be made to perform appropriate actions at appropriate points in time. The actions of the actuators 10-20 are realized by controlling the actions of the actuators 10-20 by the control computer 50 according to a control program read in advance.

FIG. 2 is a block diagram conceptually showing a situation in which the control computer 50 mounted on the automatic manufacturing machine 1 controls the actions of the actuators 10-20. Furthermore, in Figure 2, the switches and sensors necessary for control are also omitted. As shown in the figure, between the control computer 50 and the actuator 10, a drive circuit 10d for driving the actuator 10 is provided, and the control computer 50 controls the operation of the actuator 10 through the drive circuit 10d. The actuators 11-20 are also the same. Between the control computer 50 and the actuators 11-20, there are drive circuits 11d-20d for driving the actuators 11-20, and the control computer 50 uses the drive circuit 11d. ~20d controls the actions of actuators 11~20.

In addition, using FIG. 1 as described above, in the automatic manufacturing machine 1 of this embodiment, the actuators 10-13 and 17-20 are servo motors, and the actuators 14-16 are pneumatic cylinders. Here, a servo motor refers to a motor controlled by a servo. Typically, it is a motor that controls the current value flowing in the motor so that the position (or angle) becomes the target value. In addition, the pneumatic cylinder is an actuator that uses air pressure to move the movable part linearly, and operates by opening and closing a port connected to a compressed air supply source. In addition, the opening and closing of the ports are controlled in sequence.

In this control computer 50, servo-controlled actuators 10-13, 17-20, and sequence-controlled actuators 14-16 are connected. In the figure, the control computer 50 and the actuators 10-13, 17-20 are connected by solid lines, which means that these actuators 10-13, 17-20 are controlled by a servo. In addition, the control computer 50 and the actuators 14-16 are connected by dotted lines, which means that the actuators 14-16 are controlled in sequence. Of course, actuators controlled by means other than servo control and sequence control can also be connected to the control computer 50.

The control computer 50 controls the actions of the actuators 10-20 according to the control program, and the control program is prepared in advance by the control program generating device 100 and then read by the control computer 50. Here, it is not easy to create a control program for making a large number of actuators 10-20 as shown in FIG. 2 perform appropriate actions at appropriate time points. Especially, in the case where actuators with different control methods such as servo control and sequence control are mixed, it takes a long time to create the control program. So now The situation is that in the case of manufacturing a new automatic manufacturing machine 1, more than half of the development period is spent on the production of the control program.

B. How to make the control program

B-1. Summary:

Fig. 3 is an explanatory diagram conceptually showing the outline steps for developing a new automatic manufacturing machine 1. Figure 3 (a) shows the development steps that have been implemented. In addition, Figure 3(b) shows the new development steps proposed by the inventor of the present invention.

In the conventional development step, as shown in Fig. 3(a), first, after understanding the various functions required by the automatic manufacturing machine 1, the machine design technician creates an automatic manufacturing machine 1 equipped with a mechanism for realizing these functions. picture. When making drawings, mechanical design technicians must explore and decide which movable parts must perform which actions one by one, and in order to achieve their actions, what degree of torque, momentum, and accuracy of the actuators are required, and set them up. Where and how necessary to do it. Then, after deciding the actual actuator to be mounted, and considering the mountability and maintainability of the actuator, the final drawing is completed.

After completing the mechanical design of the automatic manufacturing machine 1 in this way, proceed to make a control program for controlling the automatic manufacturing machine 1. In the production of the control program, since it requires a different professional technology from the mechanical design, it is produced by a program designer with professional technology. Therefore, after the mechanical technician finishes the mechanical design and creates a flowchart showing the operation of the automatic manufacturing machine 1, the operation of the automatic manufacturing machine 1 is explained to the programmer. So far, it is the job of the mechanical design technician.

On the other hand, the programmer who received the description from the mechanical design technician understands the operation of the automatic manufacturing machine 1 by familiarizing himself with the flowchart produced by the mechanical design technician, based on the required diagrams, and other data. Started to produce a control program for controlling the actions of various actuators mounted in the automatic manufacturing machine 1. Programmers, generally use high-level programming languages to produce The control program, but the computer cannot directly execute the control program in a high-level programming language. Therefore, the programmer finally completes the control program by converting the control program described in a high-level programming language into a computer-executable control program in machine language. Furthermore, the operation of converting a control program in a high-level programming language into a control program in a machine language is called compilation, and this operation is completed in a short time by using a special program called a compiler.

As shown in Figure 3(a), in the development steps that have been implemented, the production of control programs usually takes about 1.5 to 2.5 times the time required for mechanical design. In addition, since it is difficult in principle to perform the machine design and control program production at the same time, the development time of the automatic manufacturing machine 1 is lengthened. In addition, it is necessary to ensure that there are mechanical design technicians and programming experts with different technologies, which is also a huge obstacle in the development of new automatic manufacturing machinery 1.

On the other hand, FIG. 3(b) shows the steps of developing an automatic manufacturing machine 1 using the new method proposed by the inventor of the present invention. In the case of using the new method, the mechanical design itself is also the same as the conventional method. That is, after understanding the various functions required by the automatic manufacturing machine 1, the machine design technician makes a drawing of the automatic manufacturing machine 1 equipped with a mechanism for realizing these functions. At this time, after discussing the movable parts necessary to realize the function, the content of the movable parts, and the performance of the actuator used to activate the movable parts, etc., and determining the actuator, the mountability and maintenance of the actuator are also considered. Sex, etc., and finally complete the picture.

After completing the diagram, in the new development step shown in Figure 3(b), the mechanical designer creates an action diagram to replace the flowchart. This action diagram will be described in detail later, but it is a description of the action of each actuator considered by the mechanical design technician during the mechanical design in the form of a diagram. Since this action figure was originally thought by the inventor of the present invention, it is not a figure that already exists in the world, so it is named "YOGO figure". Therefore, in the following, this new action graph is referred to as a YOGO graph.

As the YOGO diagram described later, it only expresses the action of each actuator that the mechanical design technician considers when designing the machine as they want. Therefore, the mechanical design of the mechanical design A technician can produce it in about half of the production flow chart (see Fig. 3(b)). In addition, the YOGO diagram can be converted into a machine language control program by a dedicated compiler. The reason why the YOGO diagram can be converted into a machine language control program will also be described later. In this way, since the action of the automatic manufacturing machine 1 is described in the YOGO diagram, it will be possible to generate a machine language control program from the YOGO diagram. Therefore, as shown in Figure 3, compared with the conventional method, the development of the new automatic manufacturing machine 1 can be developed. The time is reduced by at least half (typically about 1/3). In addition, YOGO diagrams can be easily produced by mechanical design technicians, and there is no need to ensure that there are programmers. Therefore, it is possible to almost completely solve various situations that hinder the development of the new automatic manufacturing machine 1. The following describes the YOGO diagram that can accomplish this. Furthermore, the YOGO diagram in this embodiment corresponds to the "action diagram" in the present invention.

B-2.YOGO diagram

Fig. 4 is an explanatory diagram for explaining the outline of the YOGO diagram 200. Furthermore, if the size is reduced in order to show the entire YOGO diagram 200, the description will be broken and cannot be read. Therefore, a part of the YOGO diagram 200 (the upper left corner part) is shown in FIG. 4. As shown in FIG. 4, the YOGO diagram 200 is a large table shape in which a plurality of horizontal lines and a plurality of straight lines intersect. Hereinafter, in the plurality of intersecting lines, the horizontal line is referred to as the "separation line" 201, and the straight line is referred to as the "trigger line" 202.

The rectangular area formed between the adjacent dividing lines 201 is an area describing the action of the actuator. In the column at the left end of the YOGO diagram 200, the name of the actuator is recorded between the dividing line 201 and the dividing line 201. Next, in the rectangular area between the dividing line 201 and the dividing line 201, the action of the actuator described in the column at the left end is described. In the example shown in Fig. 4, the action of actuator A is described in the top rectangular area, the action of actuator B is described in the rectangular area second from the top, and the action of actuator B is described in the rectangular area third from the top Then describe the action of the actuator C. Using Figures 1 and 2 as described above, since 11 actuators 10-20 are mounted in the automatic manufacturing machine 1 of this embodiment, all the actuators 10-20, including them, are allocated one by one. Rectangular area. In addition, as described later, in the YOGO diagram 200, the actions of machines other than actuators can also be described. It also distributes the machines in the rectangular area one by one.

The trigger line 202 is given consecutive numbers. In the example shown in FIG. 4, in the column at the upper end of the YOGO chart 200, the serial number of the trigger line 202 below it is recorded. The trigger line 202 completes an important task when the machine language control program is generated by the YOGO diagram 200, and this point will be described in detail later.

In the area between the dividing line 201 and the dividing line 201, the mark indicates the action line 203 of the action of the actuator assigned to the area. The left end of the action line 203 marks the starting point 204 that indicates the start of the action, and the mark indicates the start point 204 of the start of the action, and in the action line 203 The right end marks the end point 205 which indicates the end of the action. In the example shown in FIG. 4, the action line 203 is represented by a thick solid line, the starting point 204 is represented by a circle mark with a black border and a white background, and the end point 205 is represented by a black circle mark. The action line 203 must be marked in the area between the dividing line 201 and the dividing line 201, and accordingly, the dividing line 201 cannot be crossed. In addition, the action line 203 can cross the trigger line 202 mark, but the start point 204 and the end point 205 must be marked on the trigger line 202.

Furthermore, on the action line 203, a name showing the basic action of the actuator (hereinafter referred to as the basic action name 206) is indicated. Here, the basic action of the actuator, for example, if it is a rotary actuator such as a motor, it is a basic action such as a forward rotation and a reverse rotation, and if it is a linear motion such as a pneumatic cylinder The actuator is the basic movement such as forward movement and backward movement. These basic actions can specify the necessary parameters such as rotation speed or movement speed, and action time to specify the action of the actuator. Furthermore, in this embodiment, the rotation movement in the forward direction and the rotation movement in the reverse direction are two basic movements with different degrees of freedom. However, although these parameters are different in positive and negative, they can also be operated as a basic action with the same degree of freedom. In the YOGO diagram 200, the separation line 201, the trigger line 202, the action line 203, the start point 204, the end point 205, and the basic action name 206 as described above are used to describe the action of the automatic manufacturing machine 1.

Figure 5 shows how to use YOGO diagram 200 to describe the action of the automatic manufacturing machine 1 An explanatory diagram of the law. In the example shown in Fig. 5, a situation where four actuators a~d coordinate and operate is described. First, focus on the trigger line 202 No. 1. On the trigger line 202, the starting point 204 is marked in the area describing the action of the actuator a, and the action line 203 is drawn from the starting point 204 to the right. Since the trigger line 202 No. 1 indicates the time point when power is supplied to the automatic manufacturing machine 1, this mark indicates that the actuator a is first activated after the power is supplied to the automatic manufacturing machine 1.

In addition, on the action line 203, the basic action name 206 "Ω-AA-1" is marked with two parameters "A-10" and "B-5". As described later, the basic action name 206 corresponds to a computer-executable program element used to make the actuator a perform basic actions. Accordingly, by marking the basic action name 206 on the action line 203, the program element executable by the computer can be specified, and the action of the actuator a can be controlled by using the program element, so that the actuator a can perform the basic action The basic action of the name 206.

Furthermore, the actuator a, for example, when the pneumatic cylinder moves forward or backward within the stroke limit, the basic movement realized by the programming element is to only move forward or backward until a certain time has passed. The action, or the action of moving forward or backward until the contact switch turns ON. Since this simple action does not require parameters, the basic action name 206 without parameters is marked on the action line 203. In contrast, when the actuator a is, for example, a linear motor, which can specify the moving speed and moving distance (or stop position) when it moves forward or backward, these conditions must be specified for the program element. In addition, when the actuator a is an actuator that can specify the rotation speed and rotation angle (or stop angle position) when the rotating shaft rotates in the forward or reverse direction, such as a general motor, these must also be specified for the program component condition. Therefore, for this type of actuator, the action line 203 is marked with the basic action name 206 attached to the parameters for specifying these conditions. Furthermore, the content specified by the parameter is not limited to the numerical value indicating the speed and position, etc., but can also specify the degree of acceleration and deceleration of the motor, the drive type indicating the acceleration and deceleration state, etc.

In Fig. 5, the action of pulling the actuator a from the starting point 204 on the trigger line 202 on the 1st The line 203 ends at the end point 205 on the trigger line 202 on the 2nd. This mark indicates that the time point at which the action of the actuator a starts after the power supply ends is the trigger line 202 No. 2. The elapsed time from the time point indicated by the trigger line 202 No. 1 to the time point indicated by the trigger line No. 2 202 varies according to the program element specified by the basic action name 206 on the action line 203.

In addition, on No. 2 trigger line 202, a starting point 204 is marked at a position corresponding to actuator b, and an action line 203 is drawn from this starting point 204. This action line 203 ends at the end point 205 marked on No. 3 action line 203. Similarly, the position corresponding to the actuator c is also marked with an action line 203 having a starting point 204 on the second trigger line 202 and an end point 205 on the third trigger line 202. These marks indicate that the action of the basic action name 206 "Ω-AA-1" of the actuator a ends, and the actions of the actuator b and the actuator c start. In addition, the action of the actuator b at this time is the action specified by the basic action name 206 "Ω-AA-2" marked on the corresponding action line 203, and the action of the actuator c is the action marked on the corresponding action line 203. The action specified by the basic action name 206 "Ω-BB-1" on the action line 203.

Furthermore, on the trigger line 202 of No. 3, the starting point 204 is marked at the position corresponding to the actuator d, and from this starting point 204, the action line 203 ending at the end point 205 of the trigger line 202 on the No. 4 is drawn. Furthermore, on this action line 203, the basic action name 206 "Ω-AA-1" is marked. This mark indicates that the action of the actuator b and the actuator c ends, and the action of the actuator d starts. Here, since the action of the actuator b is the action of the basic action name 206 "Ω-AA-2", the action of the actuator c is the action of the basic action name 206 "Ω-BB-1", so the actuator The action of b and the action of actuator c do not end at the same time. Therefore, the actuator d starts the action specified by the basic action name 206 (herein Ω-AA-1) after the action of the actuator b ends and the action of the actuator c ends.

Here, the real function of the trigger line 202 is explained. The trigger line 202 can be easily understood by intuitive thinking as "the person indicating the time point of the action". However, the real function of the trigger line 202 does not indicate the time point of the action. For example, although the action line 203 of the actuator b and the actuator c mentioned above ends at the end point 205 on the trigger line 202 of No. 3, the action content of the actuator b and the actuator c are different, Therefore, the action does not actually end at the same point in time. Accordingly, the real function of the trigger line 202 is to associate the end of the action of one or more actuators with the start of the action of the other or more actuators, and correlate them with logic operations. In the above example, the trigger line 202 of No. 3 is the true or false of the event "End of action of actuator b", the true or false of event of "End of action of actuator c", and the true or false of event "The action of actuator d" The true or false of "Start" is related to the logical operation of "End of action of actuator b" AND "End of action of actuator c" = "Start of action of actuator d".

In addition, it can be seen from the above description that the essence of the YOGO diagram 200 is to describe the overall actions of the automatic manufacturing machine 1 by associating the basic actions of a plurality of actuators with logical operations. According to this, even if the figure that realizes this function is made without using the action line 203, the start point 204, the end point 205, and the separation line 201 and the trigger line 202 according to the situation, the figure can only be called just YOGO One of the deformation of the picture.

FIG. 6 is an explanatory diagram illustrating the operation of the automatic manufacturing machine 1 using an action diagram (a modification of the YOGO diagram) having the same function as the YOGO diagram. In the modification of the YOGO diagram illustrated in FIG. 6, a rectangular action block 213 is used instead of the aforementioned action line 203. The action block 213 represents the action of the actuator, and the content of the actuator action is specified by writing the basic action name 206 in the action block 213. Then, it is also possible to associate the action by connecting the action represented by the action block 213 to the end of the action represented by the action block 213 and the action of the other action block 213 to connect the line representing the logical operation.

For example, in FIG. 6(a), the part of trigger line 202 shown in FIG. 5 is described as a deformed YOGO diagram. In Figure 6(a), the position of trigger line 202 on No. 2 shows the action block 213 marked with the basic action name 206 "Ω-AA-2" and the action block marked with the basic action name 206 "Ω-BB-1" 213, and at the position of trigger line 202 on the 3rd, it means the basic action of marking The action block 213 of the name 206 "Ω-AA-1". Next, connect the rear end of the two action blocks 213 marked on the No. 2 trigger line 202 and the front end of the two action blocks 213 marked on the No. 3 trigger line 202 by a solid AND line 214. The AND line 214 indicates that these action blocks 213 are related by the logical operation of AND. Based on this, in this case, it is described that when the basic action of "Ω-AA-2" ends and the basic action of "Ω-BB-1" ends, then the basic action of "Ω-AA-1" will start. .

Of course, a plurality of action blocks 213 can also be associated with an OR operation instead of an AND operation. For example, as shown in Figure 6(b), the action block 213 representing the basic action of "Ω-AA-2" and the action block 213 representing the basic action of "Ω-BB-1" are used as shown in dotted lines The OR line 215 is connected to the action block 213 representing the basic action of "Ω-AA-1". In this way, it can be described that when either the basic action of "Ω-AA-2" or the basic action of "Ω-BB-1" ends, the action of the basic action of "Ω-AA-1" is started.

The above content is the basic method of using the YOGO diagram 200 to describe the action, but for the purpose of making the description of the action easier, various description methods are prepared in the YOGO diagram 200. For example, the trigger line No. 4 202 and the trigger line No. 5 202 shown in FIG. 5 are represented by a dotted chain line, which indicates that the conditions are different. In addition, below the trigger line 202 No. 4 and below the trigger line 202 No. 5, each represents a rectangle 207 with one point of the chain line, and these represent divergence conditions. In the example shown in FIG. 5, the rectangle 207 below the trigger line 202 No. 4 is marked with "A>B", and the rectangle 207 below the trigger line 202 No. 5 is marked with "ELSE", which means that when If the condition of "A>B" is satisfied, the action of the action line 203 drawn from the starting point 204 on the trigger line 202 of No. 4 will start, and if the condition of "A>B" is not satisfied (in the case of ELSE), it will start The action of the action line 203 drawn from the starting point 204 on the trigger line 202 on the 5th. According to this, at the point in time when the action of the basic action name 206 "Ω-AA-1" of the actuator d ends, when the condition of "A>B" is established, the actuator b starts the basic action name 206" If the condition of "A>B" is not satisfied, the actuator c starts the operation of the basic action name 206 "Ω-BB-1".

In addition, the end point 205 indicating the end of the action of the actuator b started in this way and the end point 205 indicating the end of the action of the actuator c are indicated by black square marks. This means that the end of these actions is associated with the beginning of other actions by OR operation. Furthermore, since the general end point 205 represented by a black circle mark, the end of the action and the beginning of other actions are connected by an AND operation, so in particular, the end point 205 of the black square mark must be compared to the general black circle mark. When the end point 205 is distinguished, it is recorded as "OR end point 205a". In the example shown in Figure 5, the basic motion of actuator b named "Ω-AA-3" and the basic motion of actuator c named "Ω-BB-1", either All ends on the trigger line 202 on the 6th, but when any of the actions ends, the actuator d starts a basic action named "Ω-AA-1".

Further, the end point 205 indicating the end of the action of the actuator d started in this way is marked on the 7th trigger line 202 indicated by a broken line. The dashed trigger line 202 indicates that it is repeated. In the example shown in FIG. 5, the action from the trigger line 202 of No. 7 shown by the dotted line to the trigger line 202 of No. 9 also shown by the dotted line is repeated. In addition, below the No. 7 trigger line 202 that appears first among these two trigger lines 202, the repetition condition is marked in the dotted rectangle 208. In the example shown in FIG. 5, the actions from the 7th trigger line 202 to the 9th trigger line 202 (according to this, the action of the actuator a and the action of the actuator b) are repeated until the value of the variable VC changes. Is 0. Then, when the repetition condition marked below the trigger line 202 of No. 7 (here, the variable VC=0) is established, the action of the actuator c marked at the starting point 204 on the trigger line of No. 9 is started.

In addition, in the automatic manufacturing machine 1, there are cases where a sound (including effect sound) is output before the start of the operation of the actuator to prompt the attention of surrounding workers, and there are cases where a lamp is turned on and off after a certain period of time. Although the action of outputting sound from the loudspeaker and the action of turning on or off the lamp to turn on the light are not by the action of the actuator, it can be compared with the action and can be operated in the same way as the basic action. In the YOGO diagram 200, although it is not based on the action of the actuator, it can also describe the action that can be operated in the same way as the basic action.

FIG. 7 is an explanatory diagram exemplified on the YOGO diagram 200 to describe the state of the action that can be operated in the same manner as the basic action. In Fig. 7(a), the action of outputting sound from the loudspeaker (sound output action) is described. In the YOGO diagram 200, the sound output action of the loudspeaker is also marked on the action line 203 with a starting point 204 at the left end and an end point 205 at the right end, marking the basic action name 206 of the loudspeaker driving (here Ω -SP-1) to describe. The sound data output from the loudspeaker can be specified using parameters.

In Fig. 7(b), the light-emitting action of making the lamp light is described. The light-emitting action of the lamp is also described by the action line 203 with a starting point 204 at the left end and an end point 205 at the right end, marking the basic action name 206 (herein, Ω-LL-1) of the light-emitting action of the lamp. The state in which the light is illuminated (for example, the state in which the light is turned on or off) can be specified using parameters.

Further, for example, counting the counting action until the number of times the switch (or button) is pressed reaches the specified number, counting the timing action from pressing the switch (or button) until the specified time has elapsed, and heating the object using a heater or heating the conditioning material Actions can also be described in YOGO diagram 200 as actions that compare basic actions. Figure 7(c) shows a description example of the counting action using a counter to count up to a specified number of times, Figure 7(d) shows a description example of the counting action using a timer to calculate the specified time elapsed, and Figure 7(e) shows the use Description example of heating action of heater heating.

In addition, in the automatic manufacturing machine 1, there are cases where the switch is turned ON or the switch is turned OFF, which is a condition for starting the operation. Furthermore, there are cases where the switch turns ON or the switch turns OFF, which is a condition for ending the operation. Considering this situation, in the YOGO diagram 200, the state of the switch can be described as an action start condition or an action end condition.

FIG. 8 is an explanatory diagram illustrating a state in which the switch state is used as an action start condition to be described in the YOGO diagram 200. In the example shown in FIG. 8(a), an end point 205, a start point 204, and a triangle mark with a black border and a white background are recorded on the trigger line 202 No. 11. The triangle mark with black border and white background indicates confirmation The action that the switch is ON (hereinafter referred to as the ON confirmation action 209), beside the ON confirmation action 209, there is a switch specific information 210 for specifying the confirmation switch. In addition, the ON confirmation action 209, the start point 204, and the end point 205 are each described in the area between the different dividing lines 201. The record in Fig. 8(a) indicates that when the action of the basic action name 206 "Ω-AA-2" ends, and the switch SW-1 is turned ON (or is already ON), the basic action name 206 "Ω- The action of "AA-3" begins.

In addition, in the example shown in FIG. 8(b), the ON confirmation action 209 represented by the triangle mark with a black border and a white background is changed to a black triangle mark. This black triangle mark indicates the action of confirming that the switch is OFF (hereinafter referred to as OFF confirmation action 211). Beside the OFF confirmation action 211, switch specific information 210 for the specific confirmation switch is also recorded. According to this, the record in Figure 8(b) indicates that when the action of the basic action name 206 "Ω-AA-2" ends, and the switch SW-1 turns OFF (or is already OFF), the basic action name 206 " Ω-AA-3" action.

FIG. 9 is an explanatory diagram illustrating a state in which the switch state is used as an action end condition to be described in the YOGO diagram 200. FIG. 9(a) is compared with the aforementioned FIG. 8(a). In FIG. This indicates that the ON confirmation action 209 is an action end condition. According to this, the record shown in Figure 9(a) indicates that when the switch SW-1 is turned ON, the operation of the basic operation name 206 "Ω-AA-2" is ended, and the basic operation name 206 "Ω-AA-" is started. 3" action.

In addition, in the example shown in FIG. 9(b), the ON confirmation operation 209 in FIG. 9(a) is changed to the OFF confirmation operation 211. According to this, the record shown in Figure 9(b) indicates that when the switch SW-1 is turned OFF, the operation of the basic operation name 206 "Ω-AA-2" is ended, and the basic operation name 206 "Ω-AA-" is started. 3" action.

B-3. Reasons for generating machine language control programs from YOGO diagrams:

Using FIG. 3(b) and recording the action of the automatic manufacturing machine 1 in the YOGO diagram 200 as described above, the YOGO diagram 200 can be passed through a dedicated compiler to automatically generate the control computer 50 Executable control program in machine language. This can be achieved for the reasons described later.

First, the YOGO diagram 200 describes the actions of the automatic manufacturing machine 1 by using logical operations to correlate the basic actions of the actuators mounted on the automatic manufacturing machine 1 and the actions that follow the basic actions (refer to Figures 7 to 9). . In addition, the judgment of conditional divergence based on divergent conditions and the judgment of repeated actions based on repetitive conditions can also be considered based on logic operations. Here, the basic action or the action based on the basic action can be pre-made program components used to realize this action. Furthermore, such programming elements can be described in high-level programming languages or machine languages.

Furthermore, programs that execute logic operations, programs that execute judgments based on divergent conditions, and programs that execute judgments based on repetitive conditions can be automatically generated because they are simple programs. Accordingly, when transforming the YOGO diagram 200 into a control program, first, by analyzing the YOGO diagram 200, extract the basic actions recorded in the YOGO diagram 200 (and the actions corresponding to the basic actions), and the logical operations associated with them. (Or conditional judgment). Then, while replacing the basic actions (and actions that follow the basic actions) with pre-made program components, the program components are combined with the programs corresponding to the extracted logical operations (or conditional judgments). In this way, a control program described in a high-level programming language or machine language can be automatically generated from the YOGO diagram 200. In this embodiment, the control program generating device 100 as follows is used to generate the control program.

C. The control generating device 100 of this embodiment:

FIG. 10 is an explanatory diagram showing the functions of the control program generating device 100 of this embodiment. The control program generating device 100 of this embodiment can be implemented using a so-called personal computer.

As shown in FIG. 10, the control program generation device 100 of this embodiment includes a YOGO diagram creation unit 101, a basic movement storage unit 102, a YOGO diagram reading unit 103, a YOGO diagram analysis unit 104, a control program generation unit 105, and a control The program output unit 106 and so on. Furthermore, these "parts" are used to create the YOGO diagram 200 using the control program generating device 100, and the YOGO diagram 200 is self-contained. It is an abstract concept that automatically generates a control program, and classifies a plurality of functions that the control program generation device 100 should have. Accordingly, it does not mean that the control program generating device 100 is formed by combining parts corresponding to these "parts". In fact, these "parts" can be implemented in the form of programs executed by a central processing unit (CPU), and can also be implemented as a combination of integrated circuit (IC) chips and large-scale integrated circuits (LSI) and other electronic circuits. Type realization, and further, it can be realized in various forms such as this mixed type.

The YOGO drawing production department 101 is connected to the display screen 100a, keyboard 100b, and mouse pointer 100c, etc., and is a mechanical design technician who performs mechanical design of the automatic manufacturing machine 1. By viewing the display screen 100a while operating the keyboard 100b and sliding The mouse index 100c is used to make the YOGO chart 200 illustrated in FIG. 4. As mentioned above, the YOGO diagram 200 combines the actions of a plurality of actuators mounted on the automatic manufacturing machine 1 and describes the actions of the automatic manufacturing machine 1. In order to realize the action of the automatic manufacturing machine 1 in the mechanical design, the mechanical design technician fully explores how to combine the actions of multiple actuators. Therefore, it is possible to easily create a YOGO describing the action of the automatic manufacturing machine 1 Figure 200.

In addition, using FIGS. 4 to 7 and as mentioned above, in the YOGO diagram 200, the basic action name 206 used for a specific basic action (or an action that follows the basic action) must be marked. Therefore, the basic operation storage unit 102 associates and stores the name of the actuator (or loudspeaker, lamp, switch, etc.) with the basic operation name 206 such as the basic operation that can be performed by the actuator or the like.

FIG. 11 is an explanatory diagram illustrating a state in which the names of actuators and the like are associated with the basic operation name 206 and stored in the basic operation storage unit 102. As shown in the figure, actuators, etc., are associated with and stored with basic action names 206 such as executable basic actions. For actuators that can perform plural types of basic actions, etc., the basic action name 206 is stored for the executable actions. In addition, there is a basic action name 206 with parameters that can be specified, and the parameters that can be specified are also stored. For example, in Figure 11, the basic action name 206 "Ω-AA-1" shown at the top is stored as the meaning of the assignable parameter "A". The third basic action name 206 "Ω-AA-3" is stored as meaning that two parameters "A" and "B" can be specified. In addition, the fourth basic action name 206 "Ω-AA-4" above is stored as meaning that there are no parameters that can be specified.

In addition, as shown in FIG. 11, the program component name is also stored for each basic action name 206. The program component name is the name of the program used to realize the basic action represented by the basic action name 206 (or the action corresponding to the basic action). Since the basic actions and the actions referred to here are simple actions, the programs that implement such actions can be small in size, and can be used as a combination of components and other programs with large sizes. Therefore, in this manual, the program that realizes these actions is recorded as "program component". Program components can be programs described in high-level programming languages, or programs described in machine language.

As shown in FIG. 10, the YOGO diagram creation unit 101 is connected to the basic movement storage unit 102. Therefore, the mechanical design technician can refer to the data in FIG. 11 stored in the basic motion storage unit 102 when making the YOGO diagram 200. Next, since the machine technical designer who designs the automatic manufacturing machine 1 fully understands what kind of actuator will operate, it is possible to know the basic operation name 206 from the name of the actuator and the like. Furthermore, the content of the specified parameter can also be easily determined. Therefore, the YOGO chart 200 can be easily produced.

The YOGO graph reading unit 103 reads the YOGO graph 200 produced by the YOGO graph producing unit 101, and outputs it to the YOGO graph analyzing unit 104. Furthermore, in this embodiment, the YOGO diagram 200 is also produced by the control program generating device 100. Correspondingly, the YOGO diagram reading unit 103 reads the YOGO diagram 200 from the YOGO diagram producing unit 101. On the other hand, when the YOGO diagram 200 is made by another computer, the YOGO diagram reading unit 103 reads the YOGO diagram 200 from the other computer.

The YOGO graph analysis unit 104, by analyzing the YOGO graph 200 received from the YOGO graph reading unit 103, extracts the basic actions recorded in the YOGO graph 200 (and the actions corresponding to the basic actions), and the logical operations associated with them (Or conditional judgment). Then, output the result To the control program generating unit 105.

The control program generation unit 105, by referring to the corresponding relationship between the basic action name 206 stored in the basic action storage unit 102 and the program element (refer to FIG. 11), will describe the basic actions in the YOGO diagram 200 (and the actions that follow the basic actions) Replaced by program components. Further, these program elements are combined based on logical operations (or conditional judgments) extracted from the YOGO diagram 200, and programs such as logical operations are executed. Since the control program can be generated from the YOGO chart 200 by this, the generated control program is output to the control program output unit 106. Furthermore, the compiler 110 for generating the control program from the YOGO diagram 200 is implemented by the basic operation storage unit 102, the YOGO diagram reading unit 103, the YOGO diagram analyzing unit 104, and the control program generating unit 105 described above.

The control program output unit 106 writes the control program received from the control program generation unit 105 into the storage area of the control computer 50 of the automatic manufacturing machine 1 (refer to FIGS. 1 and 2). As a result, the control computer 50 can control the operation of the automatic manufacturing machine 1 by controlling various actuators mounted on the automatic manufacturing machine 1 in accordance with the control program.

Furthermore, the YOGO graph reading unit 103 of this embodiment corresponds to the "action graph reading unit" of the present invention. In addition, the YOGO graph reading unit 103, the YOGO graph analyzing unit 104, and the control program generating unit 105 included in the control program generating device 100 of this embodiment can also be regarded as representing a method of generating a control program. Accordingly, the YOGO graph reading unit 103 of this embodiment corresponds to the "action graph reading step" of the present invention that has been understood as a control program generation method, and the YOGO graph analyzing unit 104 of this embodiment corresponds to the present invention The "action diagram analysis step", the control program generation unit 105 of this embodiment, corresponds to the "control program generation step" of the present invention. Furthermore, the functions implemented by the YOGO graph reading unit 103, the YOGO graph analyzing unit 104, and the control program generating unit 105 included in the control program generating device 100 of this embodiment can also be understood as having the ability to generate an automatic manufacturing machine 1 using a computer. The function of the program of the method of controlling the program. Accordingly, the YOGO graph reading unit 103 of this embodiment corresponds to the "action graph reading function" of the present invention, which has been understood as a program, and the YOGO of this embodiment The graph analysis unit 104 corresponds to the "action graph analysis function" of the present invention, and the control program generation unit 105 of this embodiment corresponds to the "control program generation function" of the present invention.

As described in detail above, the operation of the automatic manufacturing machine 1 is described by the YOGO diagram 200, and the control program generating device 100 can process the YOGO diagram 200 to automatically generate a control program for controlling the automatic manufacturing machine 1. Therefore, since it is possible to create a control program even without a programmer, the time required for the development of a new automatic manufacturing machine 1 can be significantly (at least half or less) shortened, and there is no need to ensure that there is a programmer. As a result, it is easy to introduce new automatic manufacturing machinery at the manufacturing site, and it will be able to fully respond to the industry's requirements for labor-saving.

Above, the control program generating device 100 of the present embodiment is described, but the present invention is not limited to the above-mentioned embodiments, and can be implemented in various modes without departing from the spirit thereof.

For example, in the above embodiment, it is described that the YOGO diagram 200 is described by basic actions (or actions based on basic actions). However, there are cases in which parts with complicated movements with other degrees of freedom are purchased and the parts perform designated movements to be used as an actuator of the automatic manufacturing machine 1. In this case, the specified action of the part can also be operated as an action based on the basic action, and the basic action name 206 is assigned and marked on the YOGO chart 200. In this case, a program element corresponding to the basic action name 206 is created in advance, and the control program generating device 100 can also be used to automatically generate a control program.

100: Control program generator

100a: display screen

100b: keyboard

100c: mouse pointer

101: YOGO map production department

102: Basic movement storage

103: YOGO image reading department

104: YOGO Graph Analysis Department

105: Control program generation department

106: Control program output section

110: Compiler

Claims (8)

A control program generating device (100), which generates a control program of an automatic manufacturing machine (1) equipped with a plurality of actuators (10-20), and is characterized by: The basic motion storage unit (102) corresponds and stores the basic motion representing the motion of each degree of freedom of the actuator with the program element used to realize the basic motion; The action diagram reading unit (103) decomposes the action of the automatic manufacturing machine into a plurality of the basic actions, and associates the end of the basic action with the beginning of other basic actions by logical operations, thereby reading the description There is an action diagram (200) of the action of the automatic manufacturing machine; and The control program generating unit (105) generates the control program for operating the automatic manufacturing machine by combining the program components stored in the basic operation storage unit in accordance with the operation diagram. The control program generating device according to claim 1, wherein: The basic action storage unit can store the basic action and the program element that can be parameterized; The action diagram reading unit can read the action diagram that sets the parameter for the basic action. The control program generating device according to claim 1 or 2, wherein: The basic action storage unit, in addition to the basic action, corresponds and stores at least one of the timing action of the timer or the counting action of the counter with the program element used to realize the timing action or the counting action; The action chart reading unit can read the action chart including at least one of the timing action or the counting action. The control program generating device according to any one of claims 1 to 3, wherein: The basic action storage unit, in addition to the basic action, corresponds to and stores at least one of the sound output action of the loudspeaker or the light-emitting action of the lamp with the program element used to realize the sound output action or the light-emitting action; The action diagram reading unit can read the action diagram including at least one of the sound output action or the light-emitting action. The control program generating device according to any one of claims 1 to 4, wherein: The basic action storage unit, in addition to the basic action, corresponds and stores the heating action of the heater with the program element used to realize the heating action; The action diagram reading unit can read the action diagram including the heating action. The control program generating device according to any one of claims 1 to 5, wherein: The basic movement memory, Correspond and store the basic action of the actuator controlled by the sequence control with the program element that realizes the basic action by the sequence control; The basic action of the actuator controlled by the servo control is corresponding to the program element that realizes the basic action by the servo control and stored. A method for generating a control program, which generates a control program for an automatic manufacturing machine (1) equipped with a plurality of actuators (10-20) through a computer, and is characterized by: The action diagram reading step (103) is to read and use the basic action representing the action of each degree of freedom of the actuator, and the logical operation that associates the beginning of the basic action with the end of the basic action, thereby describing the The action diagram of automatic manufacturing machinery action (200); An action diagram analysis step (104), by analyzing the action diagram, extracting a plurality of the basic actions included in the action diagram, and logical operations that associate a plurality of the basic actions; and In the control program generation step (105), by referring to the stored data (102) corresponding to the basic action and the program element used to realize the basic action, the basic action recorded in the action diagram is transformed into the Simultaneously with the program components, the program components are combined in accordance with the action diagram to generate the control program for the automatic manufacturing machine to operate. A program that uses a computer to generate multiple actuators (10~20) The method of the control program of the automatic manufacturing machine (1) is characterized by the use of a computer: Action diagram reading function (103), which reads and uses the basic motion representing the motion of each degree of freedom of the actuator, and logical operations that associate the beginning of the basic motion with the end of the basic motion, thereby describing the The action diagram of automatic manufacturing machinery action (200); The action diagram analysis function (104), by analyzing the action diagram, captures a plurality of the basic actions contained in the action diagram, and logical operations that associate a plurality of the basic actions; and The control program generation function (105), by referring to the stored data (102) corresponding to the basic action and the program element used to realize the basic action, the basic action recorded in the action diagram is transformed into the Simultaneously with the program components, the program components are combined in accordance with the action diagram to generate the control program for the automatic manufacturing machine to operate.

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